Abstract:

In order to improve the alignment precision of strapdown inertial navigation system (SINS) / odometer (OD), and to make it have the position navigation capability with a certain precision, a nonlinear alignment method on the moving base is proposed. Firstly, the nonlinear system is simplified, and the alignment is carried out by using the reduced dimension cubature Kalman filter(RD-CKF),for that position navigation can be performed in the nonlinear alignment, and ensuring that the misalignment angles are small at the end of the alignment. Then, the nonlinear R-T-S smoother is used to the initial time for attitude calibration, and a twice alignment is made by means of Kalman filter to realize high precision attitude and position navigation at the end of the alignment. The experiment is carried out in a real vehicle to demonstrate the effectiveness of the proposed method.